Motions of a rimless spoked wheel: a simple three-dimensional system with impacts
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Publication:4366136
The motion of a rimless spoked wheel rolling on a sloping surface with collisions is discussed as a model of walking machine. The authors derive the equations of three-dimensional motion of the wheel between collisions, and apply the Poincaré section method to analyse the stability of periodic motions of the wheel. Additionally, a viable computer-algebra based technique is used for the stability analysis of systems with intermittent impacts.
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Cites work
- A periodically forced piecewise linear oscillator
- Dynamic Behavior of a Bilinear Hysteretic Elasto-Plastic Oscillator, Part I: Free Oscillations
- Nonlinear oscillations, dynamical systems, and bifurcations of vector fields
- Nonsmooth impact mechanics. Models, dynamics and control
- Self-organized control of bipedal locomotion by neural oscillators in unpredictable environment
- The transition to chaos in a simple mechanical system
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(21)- Nonholonomic stability aspects of piecewise holonomic systems
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- A novel gait generation method independent of target settling-time adjustment for underactuated limit cycle walking
- Numerical accuracy of two benchmark models of walking: the rimless spoked wheel and the simplest walker
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- Existence and stability of limit cycles in the model of a planar passive biped walking down a slope
- Dynamic bipedal walking under stick-slip transitions
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- Passive walking towards running
- Existence and stability of a limit cycle in the model of a nonuniform rimless wheel rolling down a slope
- Energy-conserving intermittent-contact motion in complex models
- Exact and perturbation methods in the dynamics of legged locomotion
- Higher order transverse discontinuity mapping for hybrid dynamical systems
- An approximate solution of the SLIP model under the regime of linear angular dynamics during stance and the stability of symmetric periodic running gaits
- Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture
- Spring-mass running: simple approximate solution and application to gait stability
- Self-stability of a simple walking model driven by a rhythmic signal
- Indirectly controlled limit cycle walking of combined rimless wheel based on entrainment to active wobbling motion
- Painlevé's paradox and dynamic jamming in simple models of passive dynamic walking
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